Fawkes API  Fawkes Development Version
motion_utils.h
1 
2 /***************************************************************************
3  * motion_utils.h - Motion utility functions
4  *
5  * Created: Wed Aug 17 21:51:51 2011
6  * Copyright 2011 Tim Niemueller [www.niemueller.de]
7  *
8  ****************************************************************************/
9 
10 /* This program is free software; you can redistribute it and/or modify
11  * it under the terms of the GNU General Public License as published by
12  * the Free Software Foundation; either version 2 of the License, or
13  * (at your option) any later version.
14  *
15  * This program is distributed in the hope that it will be useful,
16  * but WITHOUT ANY WARRANTY; without even the implied warranty of
17  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18  * GNU Library General Public License for more details.
19  *
20  * Read the full text in the LICENSE.GPL file in the doc directory.
21  */
22 
23 #ifndef _PLUGINS_NAO_MOTION_UTILS_H_
24 #define _PLUGINS_NAO_MOTION_UTILS_H_
25 
26 #include <alcore/alptr.h>
27 #include <alproxies/almotionproxy.h>
28 
29 #include <string>
30 #include <vector>
31 
32 namespace motion {
33 
34 void fix_angles(AL::ALPtr<AL::ALMotionProxy> &almotion);
35 
36 void move_joints(AL::ALPtr<AL::ALMotionProxy> &almotion,
37  float head_yaw,
38  float head_pitch,
39  float l_shoulder_pitch,
40  float l_shoulder_roll,
41  float l_elbow_yaw,
42  float l_elbow_roll,
43  float l_wrist_yaw,
44  float l_hand,
45  float l_hip_yaw_pitch,
46  float l_hip_roll,
47  float l_hip_pitch,
48  float l_knee_pitch,
49  float l_ankle_pitch,
50  float l_ankle_roll,
51  float r_shoulder_pitch,
52  float r_shoulder_roll,
53  float r_elbow_yaw,
54  float r_elbow_roll,
55  float r_wrist_yaw,
56  float r_hand,
57  float r_hip_yaw_pitch,
58  float r_hip_roll,
59  float r_hip_pitch,
60  float r_knee_pitch,
61  float r_ankle_pitch,
62  float r_ankle_roll,
63  float speed);
64 
65 int timed_move_joints(AL::ALPtr<AL::ALMotionProxy> &almotion,
66  float head_yaw,
67  float head_pitch,
68  float l_shoulder_pitch,
69  float l_shoulder_roll,
70  float l_elbow_yaw,
71  float l_elbow_roll,
72  float l_wrist_yaw,
73  float l_hand,
74  float l_hip_yaw_pitch,
75  float l_hip_roll,
76  float l_hip_pitch,
77  float l_knee_pitch,
78  float l_ankle_pitch,
79  float l_ankle_roll,
80  float r_shoulder_pitch,
81  float r_shoulder_roll,
82  float r_elbow_yaw,
83  float r_elbow_roll,
84  float r_wrist_yaw,
85  float r_hand,
86  float r_hip_yaw_pitch,
87  float r_hip_roll,
88  float r_hip_pitch,
89  float r_knee_pitch,
90  float r_ankle_pitch,
91  float r_ankle_roll,
92  float time_sec);
93 
94 } // end of namespace motion
95 
96 #endif